Tethering system and method for remote device

ABSTRACT

A tethering system for a remote-controlled device includes a tether line having a first end adapted to be connected to a ground support and a second end adapted to be connected to the remote-controlled device. The system further includes an anchor-point disposed between the first and second ends of the tether line, the anchor point having an eyelet for securing the tether line and allowing the tether line to slide through the eyelet during use. The anchor-point and eyelet enable the tether line to flex or bend and the remote-controlled device to maneuver one or more of over or around the target area without interfering with any nearby obstructions.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. application Ser. No.14/565,770, now U.S. Pat. No. 9,272,782, filed Dec. 10, 2014, which is adivisional of U.S. application Ser. No. 13/804,984, now U.S. Pat. No.8,931,144 and entitled “Tethering System and Method for Remote Device,”filed Mar. 14, 2013, which is hereby incorporated by reference for allpurposes.

FIELD OF THE DISCLOSURE

This disclosure relates to remote-controlled devices, and in particular,to a tethering system and method for remote-controlled devices.

BACKGROUND OF THE DISCLOSURE

After an accident or loss, property owners typically file claims withtheir insurance companies. In response to these claims, insurance agentsor representatives investigate the claims to determine the extent ofdamage and/or loss, ultimately providing their clients with appropriatecompensation.

Often, the claim investigations can be time-consuming, difficult andeven dangerous for the insurance agents or representatives. For example,to investigate a claim for damage to a homeowner's roof, an insurancerepresentative may have to climb onto the roof and perform inspectionswhile on the roof. When climbing on the roof and attempting to maneuveraround the roof for the inspection, the insurance representative runs arisk of injury, especially in difficult weather conditions, where theroof may be slippery because of rain, snow, and/or ice and winds may besevere.

Even if the insurance representative inspects without getting injured,performing the investigation may still be time-consuming. For example,in situations where the insurance company has received a large number ofclaims in a short time period, e.g., when a town is affected by ahurricane, tornado, or other natural disaster, the representative maynot have time to perform timely claim investigations of all the receivedclaims. If claim investigations are not performed quickly, propertyowners may not receive recovery for their losses for long periods oftime. Additionally, long time delays when performing claiminvestigations can lead to inaccurate investigation results, e.g., thedelay may lead to increased opportunity for fraud and/or may make itmore difficult to ascertain the extent of damage at the time of theaccident or loss.

To address such issues, insurance representatives are increasingly usingremote-controlled devices to survey, film and/or take pictures ofdamaged property, such as on a roof or other difficult to inspect area,without having to walk onto the roof or other area. However, currentFederal Aviation Administration (FAA) regulations may limit and/orprevent the use of such devices in the air for commercial purposes. Morespecifically, while remote devices have limited range and altitude,there is a small potential for interference with national airspace andpotential mid-air collisions during operation, especially if the remotedevices are operating around or near an airport. As a result, tethersare being used with commercially used remote-controlled devices to avoidconflicts with current FAA regulations.

Controlling such tethered devices, however, presents its own set ofproblems. For example, tree limbs, electrical wires, and other obstaclesare often between the target area where the device is needed, such as aroof, and the origin of a tether line. This is a particular challengewhen the tethered device is operating on or above a house or otherbuilding where the line can get caught in tree limbs and electricalwires.

Untethered devices have a different challenge. While untethered devicescan avoid tree limbs and other obstacles that may interfere with atether line, without a physical tether line, untethered devices run therisk of straying onto a neighbor's property or worse, such as into someirretrievable location like a river or wooded area.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

FIG. 1 is a perspective view of one example of a tethering system of thepresent disclosure;

FIG. 2A is a perspective view of another example of a tethering systemof the present disclosure;

FIG. 2B is another perspective view of the tethering system of FIG. 2A;

FIG. 3 is perspective view of a protective sheath and a docking stationfor use with one or both of the example tethering systems of FIGS. 1, 2Aand 2B;

FIG. 4 is a perspective view of an example virtual tethering system ofthe present disclosure;

FIG. 5 is a block diagram of a portion of the virtual tethering systemof FIG. 4; and

FIG. 6 is a routine or process flow diagram illustrating an exemplarymethod of virtually tethering a remote-controlled device that may beperformed by the virtual tethering system of FIG. 4, for example.

SUMMARY OF THE DISCLOSURE

The present disclosure is directed to a tethering system for aremote-controlled device comprising a tether line having a first endadapted to be connected to a ground support and a second end adapted tobe secured to the remote-controlled device. The system further comprisesan anchor-point disposed between the first and second ends of the tetherline, the anchor-point having an eyelet for securing the tether line andallowing the tether line to slide through the eyelet, wherein theanchor-point and the eyelet enable the tether line to flex or bend andthe remote-controlled device to maneuver one or more of over or on atarget area without interfering with any nearby objects.

In addition, the anchor-point may comprise one of a tripod or a weighteddisc. The tripod may comprise a telescoping, extendible stand having atop portion and a bottom portion with at least two feet for supportingthe stand, and the eyelet is disposed on the top portion of the stand.

Further, the eyelet may be disposed on the weighted disc and theweighted disc may be locked to the tether line when the weighted disc iscarried to a location adjacent to the target area by theremote-controlled device.

Also, the weighted disc may be in a vertical position when locked to thetether line and in a horizontal position upon contact with the locationadjacent to the target area.

Further, upon contact with the location adjacent to the target area, theremote-controlled device may release the weighted disc to the locationadjacent to the target area, allowing the tether line to slide throughthe eyelet disposed on the weighted disc.

Still further, the first end of the tether line may include a swivelleader clip mechanism that allows easy clip-on or clip-off to theremote-controlled device.

Yet still further, the target area may be a portion of a roof.

In addition, the second end of the tether line may include a sleevedboom or sheath for extending the tether line in a semi-rigid manner awayfrom one or more of any of extensions, rotors or other interfering partsof the remote-controlled device or appurtenances, including one or moreof sky lights, aerators, solar panels or chimneys, on the target area.

Further, the remote-controlled device may include one of a quadrocopter,a robot, a crawler or other sensory delivery mechanism.

Still further, the tethering system may comprise a docking stationdisposed adjacent to the ground support, and the docking station mayhave a homing beacon or pattern for attracting or aligning theremote-controlled device for landing.

In another example of the present disclosure, a method of tethering aremote-controlled device to a target area comprises positioning a tripodon a surface and away from obstacles blocking a view of the target area,attaching a first end of a tether line to a ground support, attachingthe second end of the tether line to the remote-controlled device andforming an anchor-point via an eyelet of the tripod. This enables thetether line to flex or bend and the remote-controlled device to maneuverone or more of over or around the target area without interfering withany nearby objects.

In yet another example of the present disclosure, a method of tetheringa remote-controlled device comprises attaching a first end of a tetherline to a ground support and removeably attaching a weighted disc havingan eyelet to the remote-controlled device. The method further comprisesinserting the second end of the tether line through the eyelet of theweighted disc, attaching a second end of the tether line to theremote-controlled device, and carrying the weighted disc to a portion ofthe roof via the remote-controlled device. The method further comprisesreleasing the weighted disc to the portion of the roof to anchor thetether line and moving the remote-controlled device over to a targetarea, forming an anchor-point via the eyelet of the weighted disc. Thisenables the tether line to flex or bend and the remote-controlled deviceto maneuver one or more of over or around the target area withoutinterfering with any nearby objects.

In yet another example of the present disclosure, a method of virtuallytethering a remote-controlled device comprises equipping theremote-controlled device with an asset tracking device having a GPSreceiver, the asset tracking device having a processor and a memory. Themethod further comprises defining a GPS boundary around a target areavia the asset tracking device and storing the GPS boundary in thememory. The method also comprises storing a module in the memory of theasset tracking device, the module executable by the processor to detectthe position of the remote-controlled device via the GPS receiver,determine whether the remote-controlled device is within the GPSboundary via the asset tracking device, and automatically return theremote-controlled device to a start position upon determining theremote-controlled device exceeds or bypasses the GPS boundary.

DETAILED DESCRIPTION OF THE DISCLOSURE

Generally, a tethering system and method for a remote-controlled deviceis disclosed. The tethering system includes a tether line having a firstend adapted to be connected to a ground support and a second end adaptedto be secured to the remote-controlled device. An anchor-point isdisposed between the first and second ends of the tether line andincludes an eyelet for securing the tether line and allowing the tetherline to slide through the eyelet during use. The anchor-point mayinclude a telescoping, extendible tripod or a weighted disc, asexplained in more detail below. Both anchor-points, e.g., the tripod andthe weighted disc, enable the tether line to bend or flex and theremote-controlled device to maneuver over or on a target area withoutinterfering with any nearby objects.

Referring now to FIG. 1, an example tethering system 100 of the presentdisclosure is illustrated. The tethering system 100 includes a tetherline 110 having a first end 112 or start point connected to a groundsupport 113. The ground support 113 may include a winch mechanism (notshown) or a person holding a spool of tether line, as illustrated inFIG. 1, but is not limited to those examples only. Various otherstructures, mechanisms or devices may alternatively be used to securethe first end 112 or start point of the tether line to the groundsupport 113. The tether line 110 further includes a second end 114 thatis secured or connected to a remote-controlled device 116.

An anchor-point 118 is disposed between the first end 112 of the tetherline 110 and the second end 114 of the tether line 110. The anchor-point118 receives the tether line 110 and routes the tether line 110 awayfrom any interfering objects, for example, such as large or overgrowntrees and tree limbs, as illustrated in FIG. 1. More specifically, theanchor-point 118 further includes an eyelet 120 through which the secondend 114 of the tether line 110 is inserted into before being secured tothe remote-controlled device 116. The eyelet 120, thus, both secures thetether line 110 to the anchor-point 118 and allows the tether line 110to move freely therethrough. This enables the remote-controlled device116 that is attached to the second end 114 of the tether line 110 tofreely maneuver over or on a designated target area 122, such as aportion of a roof 123, as illustrated in FIG. 1.

In one example, and as further illustrated in FIG. 1, the anchor-point118 is a tripod 124. The tripod 124 includes a telescoping, extendiblestand 126 having a top portion 128 and a bottom portion 130 and isbetween about 8 to 10 feet in height, in one example. The bottom portion130 includes at least two feet for supporting the stand 126 and the topportion 128, for example. The eyelet 120 is disposed on the top portion128 of the tripod 124. The tripod 124 and eyelet 120 through which thetether line 110 is disposed allow the tether line 110 to flex or bendaround any nearby obstacles, rather than tail straight from the groundsupport 113 to the remote-controlled device 116 at the second end 114 ofthe tether line 110.

To effectively set up and operate the tethering system 100, the tripod124 is positioned on a surface 132, such as a ground surface, away fromany obstacles blocking a straight-line or other view of the target area122. The first end 112 of the tether line 110 is attached or secured tothe ground support 113. The second end 114 of the tether line 110 isthen inserted into the eyelet 120 of the tripod 124 to secure the tetherline 110 to the tripod 124. The tether line 110 is also able to slidethrough the eyelet 120, as explained above. The second end 114 of thetether line 110 is then secured to the remote-controlled device 116, andthe anchor-point 118 is formed via the eyelet 120 of the tripod 124disposed between the first and second ends 112, 114 of the tether line110. Thus, when a user operates the remote-controlled device 116, suchthat it is directed to the target area 122, as illustrated in FIG. 1,the tripod 124 and the eyelet 120 disposed thereon routes the tetherline 110 away from any interfering objects.

Referring now to FIGS. 2A and 2B, another example tethering system 200of the present disclosure is illustrated. Where the tethering system 200of FIGS. 2A and 2B includes elements that correspond to the elements ofthe tethering system of FIG. 1, those elements will be numberedsimilarly, the only difference being that the reference numerals ofFIGS. 2A, 2B are increased by a multiple of 100. For example,corresponding elements of FIG. 2A, 2B will be numbered exactly 100greater than the corresponding elements illustrated in FIG. 1.

More specifically, like the tethering system 100 illustrated in FIG. 1,the tethering system 200 of FIGS. 2A and 2B also includes a tether line210 having a first end 212 adapted to be connected to a ground support213. The ground support 213 may include a winch mechanism (not shown) ora person holding a spool of tether line, as illustrated in FIG. 2, butis also not limited to those examples only. Various other structures,mechanisms or devices may alternatively be used to secure the first end212 or start point of the tether line to the ground support 213. Thetether line 210 further includes a second end 214 that is secured orconnected to a remote-controlled device 216.

As illustrated in FIG. 2B, an anchor point 218 is disposed between thefirst end 212 of the tether line 210 and the second end 214 of thetether line 210. Like the anchor-point 118 of FIG. 1, the anchor-point218 includes an eyelet 220 that receives the tether line 210, routingthe tether line 210 away from any interfering objects, for example, suchas large or overgrown trees and tree limbs, as illustrated in FIGS. 2Aand 2B.

In the example tethering system 200 of FIGS. 2A and 2B, however, theanchor-point 218 is a weighted disc 224. The weighted disc 224 orfrisbee-like anchor includes the eyelet 220 and forms a lock for lockingthe weighted disc 224 to the tether line 210 when the weighted disc 224is being carried to a location on the roof 223 adjacent to a target area222 by the remote-controlled device 216, as illustrated in FIG. 2A. Morespecifically, the weighted disc 224 is first removeably secured to theremote-controlled device 216. The second end 214 of the tether line 210is then inserted into the eyelet 220 of the weighted disc 224 and thensecured to the remote-controlled device 216. The remote-controlleddevice 216 carries the weighted disc 224 to the location adjacent to thetarget area 222, such as a portion of the roof 223. While the weighteddisc 224 is being carried to the target area 222, the disc 224 tilts ormoves to a vertical position and clinches the tether line 210, lockingthe weighted disc 224 to the tether line 210, as also illustrated inFIG. 2A.

Once the remote-controlled device 216 reaches the desired location onthe roof 223, the remote-controlled device 216 lowers and releases theweighted disc 224 to the desired location on the portion of the roof223. Upon contact with the portion of the roof 223, the orientation ofthe weighted disc 224 changes from a vertical position to a horizontalposition, which simultaneously releases the tether line 210 from thelocked, i.e., vertical position. A bottom surface of the weighted disc224 includes a non-slide surface, which helps anchor the weighted disc224 firmly to the desired location on the roof 223. The non-slidesurface may include, but is not limited to, a rubber or semi-plasticmaterial, similar to soles of a roofer's shoes, for example. Thehorizontal, unlocked position allows the tether line 210 to slidethrough the eyelet 220 of the weighted disc 224.

In other words, lowering and releasing the weighted disc 224 to thedesired location on the roof 223 anchors the tether line 210 between thefirst and second ends 212, 214 of the tether line 210, forming theanchor-point 218 via the eyelet 220 of the weighted disc 224, asillustrated in FIG. 2B. Together the weighted disc 224 and the eyelet220 enable the tether line 210 to bend or flex and slip through theeyelet 220 when the remote-controlled device moves over to the targetarea 222, without interfering with nearby objects.

To return the weighted disc 224 to the ground, the tether line 210 needsto be returned to the locked or vertical position from the ground. Thismay be accomplished, for example, through manual gripping of the tetherline 210 or locking a winch or spool of a line (not shown), which allowsthe tethered remote-controlled device 216 to lift the weighted disc 224from the roof 223. This movement away from the roof 223 causes theweighted disc 224 to move back to the vertical position from thehorizontal position, locking the weighted disc 224 to the tether line210 again and temporarily preventing movement of the tether line 210.

In each of the example tethering systems 100, 200 of FIGS. 1, 2A and 2Bthe second ends 114, 214 of the tether lines 110, 210, respectively, maybe connected to a swivel leader clip mechanism or similar device. Thismechanism or similar device allows easy clip-on or clip-off of thetether line 110, 210 to the remote-controlled devices 116, 216, as iswell known to those of ordinary skill in the art. In addition, thetether lines 110, 210 may include a thin metal line or one or more of apower line or a data communications line, depending upon theremote-controlled device to which the tether lines 110, 210 are secured,for example.

Referring now to FIG. 3, a sleeved boom or sheath 240 may be used witheither of the example tethering systems 100, 200 of FIGS. 1 and 2A and2B, respectively. In one example, the sleeved boom 240 is approximatelyten inches long and is disposed immediately under the remote-controlledvehicles 116, 216, near the second ends 114, 214 of the tether lines110, 210. For example, the sleeved boom 240 may be disposed two to threeinches away from the second ends 114, 214 of the tether lines 110, 210,respectively. The sleeved boom 240 or sheath extends the tether lines110, 210 in a semi-rigid manner away from one or more of any extensions,blades, rotors or other potentially interfering parts of theremote-controlled vehicles 116, 216, as illustrated in FIG. 3. Inaddition, the sleeved boom 240 also extends the tether lines 110, 210away from any appurtenances on or near the target areas 122, 222 orroofs 123, 223, such as sky lights, aerators, solar panels and chimneys,for example.

As further depicted in FIG. 3, the tethering systems 100 and 200 mayeach further include a docking station 242 for receiving theremote-controlled device 116, 216. More specifically, the dockingstation 242 includes a homing beacon or pattern for attracting and/oraligning the remote-controlled device 116, 216 for landing afteroperation, for example. As such, in one example, as the tether line 110or 210 is being retracted to bring the remote-controlled device 116, 216to ground, the remote-controlled device 116, 216 via a sensor disposedon the remote-controlled device 116, 216, for example, is attracted toand/or aligned with the docking station 242 via the homing beacon forlanding on the docking station 242.

Referring now to FIG. 4, an example virtual tethering system 300 of thepresent disclosure is illustrated. The virtual tethering system 300includes a remote-controlled device 316 that is communicatively coupledto a portable communication device 344, such as a remote control orsimilar device for operating and controlling the remote-controlleddevice 316. The remote-controlled device 316 and the portablecommunication device 344 may be communicably coupled to a network andone or more GPS satellites 356, as explained in more detail below. Inthe example virtual tethering system 300, one of the remote-controlleddevice 316 or the portable communications unit may include an assettracking device 346 for determining the position of theremote-controlled device 316 during operation, for example. In thevirtual tethering system 300 of FIG. 4, the asset tracking device 346 isincluded in the remote-controlled device 316.

More specifically, an example block diagram of one asset tracking device346 is illustrated in FIG. 5. The asset tracking device 346 may includea positioning module 348 that is configured to receive positioning datacorresponding to the asset tracking device 346 of the remote-controlleddevice 316 and determine a spatial position or location of the assettracking device 346. In one example, at least a portion of thepositioning module 348 may include computer-executable instructionsstored on a memory 350 of the asset tracking device 346 and executableby a processor 352 of the asset tracking device 346. The positioningmodule 348 may be in communication with a GPS receiver 354 that receivesone or more GPS signals originated by one or more GPS satellites 356(FIG. 4) and also communicates indications of the GPS signals to thepositioning module 348. The positioning module 348 may determine aspatial position, e.g., a geographical position or a positioncorresponding to a set of three-dimensional coordinates, of the assettracking device 346 disposed within one of the remote-controlled device316 or the portable communication device 344 based on the GPS signals byusing triangulation, mapping, and/or other suitable techniques.

In some examples, the indication of the spatial position may include anindication of respective absolute position or location of theremote-controlled device 316 to be tracked. For example, the indicationof the absolute spatial position may be a set of three-dimensionalspatial coordinates (e.g., x, y, z coordinates; or longitude, latitude,and altitude coordinates). In some examples, the asset tracking device346 may transmit indications of absolute spatial positions (and notrelative spatial positions) to an asset tracking host, such as theportable communications unit 344, for example.

In another example, the asset tracking device 346 may represent theparticular spatial indication received from the GPS receiver 354 as arelative location based on a known landmark, waypoint, or point ofreference within the programmed virtual boundary 347. In other words,the relative location may be defined in terms of the known landmark,waypoint, or point of reference. The asset tracking device 346 of theremote-controlled device 316 may transmit an indication of the relativespatial position to the asset tracking host or portable communicationsdevice 344, for example.

A network interface 362 may also be included in the asset trackingdevice 346. The network interface 362 may be a wireless interface, awired interface, or some combination of wired and wireless interfaces.In one example, as the asset tracking device 346 may be included in theremote-controlled device 316 that is communicably coupled to thenetwork, the network interface 362 may, via the network, communicatemessages to and from the remote-controlled device 316.

In yet other examples, the asset tracking device 346 may include a userinterface 364. The user interface 364 may include, for example, an inputdevice having a keypad or buttons, a touch screen, or some othersuitable user input interface for receiving information from a user. Theuser interface 364 may include, for example, an output device such as ascreen, a display, or some other suitable output user interface forpresenting information. In an example, a user of the asset trackingdevice 346 may enter data or information via the user interface 364,including coordinates that correspond to a virtual boundary 347 (FIG. 4)surrounding the target area 322. In one example, this selectable rangeis 250 to 500 feet from a start point of the remote-controlled device316, such as a docking station 342 (FIG. 4). As such, before operationof the virtual tethering system 300, a user may program or entercoordinate information via the user interface 364 that defines a borderor boundary surrounding the target area 322.

FIG. 6 depicts an exemplary method 370 for virtually tethering theremote-controlled device 316. The method may be performed in conjunctionwith the asset tracking system 300 of FIG. 4, and/or with systems,devices, and apparatuses described therein.

More specifically, a virtual or GPS boundary 347 (FIG. 4) is definedaround the target area 322 (block 372). In one example, a user of theremote-controlled device 316 having the asset tracking device 346 mayenter data or information via the user interface 364 corresponding to astart point near the target area 322, such as the docking station 342.This may correspond to a “current location” feature of the portablecommunication unit 344 or the remote-controlled device 316 that a userselects or designates as the start point, for example. The user may thenfurther enter data or information again via the user interface 346corresponding to a range within a 250 to 500 feet radius from the startpoint of the remote-controlled device 316. Exact coordinates may bealternatively inputted, such as x, y, and z coordinates corresponding tolongitude, latitude, and altitude coordinates, respectively, of thedesired boundary lines.

The position of the remote-controlled device 316 is detected within thevirtual or GPS boundary 347 via the GPS receiver 354 of the assettracking device 346 disposed within the remote-controlled device 316,for example (block 374). In some examples, positioning datacorresponding to or indicative of the asset tracking device 346 of theremote-controlled device 316 may be absolute data, such as GPS data,e.g., a set of three-dimensional coordinates x, y and z; or alatitude/longitude/altitude indication. In other examples of the method370, a relative spatial location or position is determined based on theabsolute data obtained. For example, the absolute positioning data maybe translated into a relative spatial location based on the inputtedvirtual boundary coordinates or other known landmark, waypoint or pointof reference.

The asset tracking device 346 of the remote-controlled device 316determines whether the remote-controlled device 316 is within theinputted or programmed GPS boundary 347 (block 376). More specifically,the positioning data corresponding to the actual position of the assettracking device 346 of the remote-controlled device 316 is compared tothe data corresponding to the virtual GPS boundary 347 stored in thememory 350 of the asset tracking device 346, for example. If the actualposition of the remote-controlled device 316 is within the virtual GPSboundary 347, the position of the remote-controlled device 316 continuesto be detected by the GPS receiver 354 of the asset tracking device 346.If, however, the actual position of the remote-controlled device 316bypasses or is outside of the virtual boundary 347, theremote-controlled device 316 automatically begins to descend to returnto the start position within the GPS boundary 347, such as the dockingstation 342.

More specifically, the remote-controlled device 316 returns to the startposition after determining the remote-controlled device 316 exceeded orsurpassed the GPS boundary 347 (block 378). In other words, theremote-controlled device 316 is programmed to automatically return tothe start or home position upon meeting coordinates corresponding to theGPS boundary 347, such as when a system or pilot error occurs. Thisprevents the remote-controlled device 316 from exceeding the GPSboundary 347 and effectively virtually tethers the remote-controlleddevice 316 within the GPS boundary 347.

In one example, an altimeter (not shown) and a watch-dog timer (notshown) may be used alone or in combination with each other and/or thevirtual tethering system 300. More specifically, the altimeter cannotexceed a pre-programmed height or it returns to base or ground or astart point, if sensed. In addition, in another example, the watch-dogtimer may go off and must be reset by an operator or the watch-dog timerreturns to the base or the ground or the start point.

In another example, the signal strength of the remote-controlled device316 may be used to sense or determine whether the remote-controlleddevice 316 has exceeded a defined or GPS boundary, for example. Morespecifically, when the detected strength of the signal of theremote-controlled device 316 is low, the system 300 may determine theremote-controlled device 316 exceeded or became too close to the GPSboundary and automatically return the remote-controlled device 316 to astart or home position. Likewise, when the detected strength of thesignal of the remote-controlled device 316 is high, the system 300 maydetermine that the remote-controlled device 316 is properly operatingwithin the defined GPS boundary, for example.

In yet another example, if there is a system error, such as a GPS signalis locked, optical flow characteristics of the remote-controlled device316 may be used to sense such an error and detect the position of theremote-controlled device 316. More specifically, the camera attached tothe remote-controlled device may compensate for failures of the assettracking device 346 and prevent the remote-controlled device fromexceeding the virtual boundary 346. The optical flow characteristics ofthe remote-controlled device 346 are recognized with the camera pointingdown from the remote-controlled device 346, as the camera is able to seeobjects and how the remote-controlled device is moving. Such data isused to compensate for pilot error or navigation failure of theremote-controlled device 316.

Alternatively, instead of GPS signals and hardware, radio signals andassociated hardware may be used to define a virtual boundary and detectthe position of the remote-controlled device 316 within the boundary.More specifically, transmitters may be installed at four desired cornersof a desired virtual boundary, forming a box in which theremote-controlled device or vehicle 316 operates. In addition, an RFreceiver may be included within the remote-controlled device 316, suchthat the RF receiver detects the position of the remote-controlleddevice 316 via RF signals with the virtual boundary. Theremote-controlled device 316 may then be returned to a home or startposition within the virtual boundary upon detection of the position ofthe remote-controlled device 316 outside of the virtual boundary, forexample.

The following additional considerations apply to the foregoingdiscussion. Throughout this specification, plural instances mayimplement components, operations, or structures described as a singleinstance. Although individual operations of one or more methods areillustrated and described as separate operations, one or more of theindividual operations may be performed concurrently, and nothingrequires that the operations be performed in the order illustrated.Structures and functionality presented as separate components in exampleconfigurations may be implemented as a combined structure or component.Similarly, structures and functionality presented as a single componentmay be implemented as separate components. These and other variations,modifications, additions, and improvements fall within the scope of thesubject matter herein.

Certain implementations are described herein as including logic or anumber of components, modules, or mechanisms. Modules may constituteeither software modules (e.g., code implemented on a tangible,non-transitory machine-readable medium such as RAM, ROM, flash memory ofa computer, hard disk drive, optical disk drive, tape drive, etc.) orhardware modules (e.g., an integrated circuit, an application-specificintegrated circuit (ASIC), a field programmable logic array (FPLA),etc.). A hardware module is tangible unit capable of performing certainoperations and may be configured or arranged in a certain manner. Inexample implementations, one or more computer systems (e.g., astandalone, client or server computer system) or one or more hardwaremodules of a computer system (e.g., a processor or a group ofprocessors) may be configured by software (e.g., an application orapplication portion) as a hardware module that operates to performcertain operations as described herein.

Unless specifically stated otherwise, discussions herein using wordssuch as “processing,” “computing,” “calculating,” “determining,”“presenting,” “displaying,” or the like may refer to actions orprocesses of a machine (e.g., a computer) that manipulates or transformsdata represented as physical (e.g., electronic, magnetic, or optical)quantities within one or more memories (e.g., volatile memory,non-volatile memory, or a combination thereof), registers, or othermachine components that receive, store, transmit, or displayinformation.

As used herein, the terms “comprises,” “comprising,” “includes,”“including,” “has,” “having” or any other variation thereof, areintended to cover a non-exclusive inclusion. For example, a process,method, article, or apparatus that comprises a list of elements is notnecessarily limited to only those elements but may include otherelements not expressly listed or inherent to such process, method,article, or apparatus. Further, unless expressly stated to the contrary,“or” refers to an inclusive or and not to an exclusive or. For example,a condition A or B is satisfied by any one of the following: A is true(or present) and B is false (or not present), A is false (or notpresent) and B is true (or present), and both A and B are true (orpresent).

In addition, use of the “a” or “an” are employed to describe elementsand components of the implementations herein. This is done merely forconvenience and to give a general sense of the invention. Thisdescription should be read to include one or at least one and thesingular also includes the plural unless it is obvious that it is meantotherwise.

Upon reading this disclosure, those of skill in the art will appreciatestill additional alternative structural and functional designs for atethering system and method for a remote-controlled device through thedisclosed principles herein. Thus, while particular implementations andapplications have been illustrated and described, it is to be understoodthat the disclosed implementations are not limited to the preciseconstruction and components disclosed herein. Various modifications,changes and variations, which will be apparent to those skilled in theart, may be made in the arrangement, operation and details of the methodand apparatus disclosed herein without departing from the spirit andscope defined in the appended claims.

While the preceding text sets forth a detailed description of numerousdifferent embodiments of the invention, it should be understood that thelegal scope of the invention is defined by the words of the claims setforth at the end of a patent claiming priority hereto. The detaileddescription is to be construed as exemplary only and does not describeevery possible embodiment of the invention since describing everypossible embodiment would be impractical, if not impossible. Numerousalternative embodiments or examples could be implemented, using eithercurrent technology developed after the filing date of this patent, whichwould still fall within the scope of the claims of the patent. Moregenerally, although certain example systems and assemblies have beendescribed herein, the scope of coverage of this patent is not limitedthereto. On the contrary, this patent covers all methods, apparatus andarticles of manufacture fairly falling within the scope of the appendedclaims either literally or under the doctrine of equivalents.

What is claimed is:
 1. A method of tethering a remote-controlled devicecomprising: attaching a first end of a tether line to a ground support;removeably attaching a weighted disc having an eyelet to theremote-controlled device; inserting a second end of the tether linethrough the eyelet of the weighted disc; attaching the second end of thetether line to the remote-controlled device; carrying the weighted discto a portion of a roof via the remote-controlled device; releasing theweighted disc to the portion of the roof to anchor the tether line;moving the remote-controlled device over to a target area, forming ananchor-point via the eyelet of the weighted disc between the first andsecond ends of the tether line and enabling the tether line to flex orbend and the remote-controlled device to maneuver one or more of over oraround the target area without interfering with any nearby objects. 2.The method of claim 1, wherein carrying the weighted disc via theremote-controlled device further comprises locking the weighted disc tothe tether line.
 3. The method of claim 2, wherein locking the weighteddisc to the tether line comprises tilting the weighted disc to avertical position, thereby clinching the tether line to the weighteddisc.
 4. The method of claim 1, wherein releasing the weighted disc tothe portion of the roof to anchor the tether line comprises unlockingthe tether line.
 5. The method of claim 4, wherein unlocking the tetherline comprises tilting the disc to a horizontal position, allowing thetether line to slide through the eyelet of the weighted disc.
 6. Themethod claim 1, further comprising attaching a sleeved boom or sheath tothe second end of the tether line for extending the tether line in asemi-rigid manner away from one or more of any of extensions, rotors orother interfering parts of the remote-controlled device orappurtenances, including chimneys, on the target area or the roof. 7.The method of claim 1, further comprising positioning a docking stationadjacent to the ground support.